Predictive speed map generation and control system

Abstract

One or more information maps are obtained by an agricultural work machine. The one or more information maps map one or more agricultural characteristic values at different geographic locations of a field. An in-situ sensor on the agricultural work machine senses an agricultural characteristic as the agricultural work machine moves through the field. A predictive map generator generates a predictive map that predicts a predictive agricultural characteristic at different locations in the field based on a relationship between the values in the one or more information maps and the agricultural characteristic sensed by the in-situ sensor. The predictive map can be output and used in automated machine control.

What is claimed is: 
     
         1 . An agricultural system comprising:
 a communication system that receives an information map that includes values of a first agricultural characteristic corresponding to different geographic locations in a field;   a geographic position sensor that detects a geographic location of an agricultural work machine;   an in-situ sensor that detects a value of a second agricultural characteristic corresponding to a first geographic location in the field;   one or more processors; and   a data store that stores computer executable instructions that, when executed by the one or more processors, configure the one or more processors to identify a predictive machine speed value, indicative of a predictive travel speed of the agricultural work machine, corresponding to a second geographic location in the field based on a value of the first agricultural characteristic in the information map corresponding to the first geographic location in the field and based on the value of the second agricultural characteristic detected by the in-situ sensor corresponding to the first geographic location in the field.   
     
     
         2 . The agricultural system of  claim 1 , wherein the computer executable instructions, when executed by the one or more processors, further configure the one or more processors to:
 identify a relationship between the first agricultural characteristic and the second agricultural characteristic based on the value of the first agricultural characteristic in the information map corresponding to the first geographic location and based on the value of the second agricultural characteristic detected by the in-situ sensor corresponding to the first geographic location; and   identify the predictive machine speed value, indicative of the predictive travel speed of the agricultural work machine, corresponding to the second geographic location in the field based on the identified relationship and based on a value of the first agricultural characteristic in the information map corresponding to the second geographic location.   
     
     
         3 . The agricultural system of  claim 1 , wherein the computer executable instructions, when executed by the one or more processors, further configure the one or more processors to:
 generate a control signal to control a controllable subsystem on the agricultural work machine based on the predictive machine speed value.   
     
     
         4 . The agricultural system of  claim 1 , wherein the computer executable instructions, when executed by the one or more processors, further configure the one or more processors to:
 generate a control signal to control a propulsion subsystem on the agricultural work machine based on the predictive machine speed value.   
     
     
         5 . The agricultural system of  claim 1 , wherein the computer executable instructions, when executed by the one or more processors, further configure the one or more processors to:
 generate a control signal to control a draper belt on the agricultural work machine based on the predictive machine speed value.   
     
     
         6 . The agricultural system of  claim 1 , wherein the computer executable instructions, when executed by the one or more processors, further configure the one or more processors to:
 generate a control signal to control a reel on the agricultural work machine based on the predictive machine speed value.   
     
     
         7 . The agricultural system of  claim 1 , wherein the computer executable instructions, when executed by the one or more processors, further configure the one or more processors to:
 generate a control signal to control a header on the agricultural work machine based on the predictive machine speed value.   
     
     
         8 . The agricultural system of  claim 1 , wherein the computer executable instructions, when executed by the one or more processors, further configure the one or more processors to:
 generate a control signal to control a residue subsystem on the agricultural work machine based on the predictive machine speed value.   
     
     
         9 . The agricultural system of  claim 1 , wherein the computer executable instructions, when executed by the one or more processors, further configure the one or more processors to:
 generate a control signal to control a cleaning subsystem on the agricultural work machine based on the predictive machine speed value.   
     
     
         10 . The agricultural system of  claim 1 , wherein the in-situ sensor on the agricultural work machine is configured to detect, as the value of the second agricultural characteristic, a value of a speed characteristic indicative of the travel speed of the agricultural work machine corresponding to the first geographic location in the field. 
     
     
         11 . The agricultural system of  claim 1 , wherein the information map comprises one of:
 a vegetative index map that includes, as the values of the first agricultural characteristic, vegetative index (VI) values corresponding to the different geographic locations in the field;   a biomass map that includes, as the values of the first agricultural characteristic, biomass values corresponding to the different geographic locations in the field;   a topographic map that includes, as the values of the first agricultural characteristic, values of a topographic characteristic corresponding to the different geographic locations in the field;   a yield map that includes, as the values of the first agricultural characteristic, yield values corresponding to the different geographic locations in the field;   a soil property map that includes, as the values of the first agricultural characteristic, values of a soil property corresponding to the different geographic locations in the field;   a seeding characteristic map that includes, as the values of the first agricultural characteristic, values of a seeding characteristic corresponding to the different geographic locations in the field; or   a crop state map that includes, as values of the first agricultural characteristic, crop state values corresponding to the different geographic locations in the field.   
     
     
         12 . A computer implemented method of controlling an agricultural work machine, the computer implemented method comprising:
 obtaining an information map that indicates values of a first agricultural characteristic corresponding to different geographic locations in a field;   detecting a geographic location of the agricultural work machine;   detecting, with an in-situ sensor, a value of a second agricultural characteristic corresponding to a first geographic location in the field;   identifying a predictive machine travel speed value corresponding to a second geographic location in the field based on a value of the first agricultural characteristic in the information map corresponding to the first geographic location in the field and based on the value of the second agricultural characteristic detected by the in-situ sensor corresponding to the first geographic location in the field; and   controlling a controllable subsystem on the agricultural work machine based on the predictive machine travel speed value.   
     
     
         13 . The computer implemented method of  claim 12 , and further comprising:
 identifying a relationship between the first agricultural characteristic and the second agricultural characteristic based on the value of the first agricultural characteristic in the information map corresponding to the first geographic location and based on the value of the second agricultural characteristic detected by the in-situ sensor corresponding to the first geographic location,   wherein identifying the predictive machine travel speed value corresponding to the second geographic location in the field comprises identifying the predictive machine travel speed value corresponding to the second geographic location in the field based on the identified relationship between the first agricultural characteristic and the second agricultural characteristic and based on a value of the first agricultural characteristic in the information map corresponding to the second geographic location.   
     
     
         14 . The computer implemented method of  claim 12 , wherein controlling the controllable subsystem comprises controlling, as the controllable subsystem, a propulsion subsystem of the agricultural work machine. 
     
     
         15 . The computer implemented method of  claim 12 , wherein controlling the controllable subsystem comprises controlling, as the controllable subsystem, an actuator of the agricultural work machine to control a header of the agricultural work machine or to control a component of the header of the agricultural work machine. 
     
     
         16 . The computer implemented method of  claim 12 , wherein controlling the controllable subsystem comprises controlling, as the controllable subsystem, a residue subsystem of the agricultural work machine. 
     
     
         17 . The computer implemented method of  claim 12 , wherein controlling the controllable subsystem comprises controlling, as the controllable subsystem, a cleaning subsystem of the agricultural work machine. 
     
     
         18 . An agricultural work machine comprising:
 a communication system that receives an information map that includes values of a first agricultural characteristic corresponding to different geographic locations in a field;   a geographic position sensor that detects a geographic location of an agricultural work machine;   an in-situ sensor that detects a value of a second agricultural characteristic corresponding to a first geographic location in the field;   one or more processors; and   a data store that stores computer executable instructions that, when executed by the one or more processors, configure the one or more processors to identify a predictive machine speed value, indicative of a predictive travel speed of the agricultural work machine, corresponding to a second geographic location in the field based on a value of the first agricultural characteristic in the information map corresponding to the first geographic location in the field and based on the value of the second agricultural characteristic detected by the in-situ sensor corresponding to the first geographic location in the field.   
     
     
         19 . The work machine of  claim 18 , wherein the computer executable instructions, when executed by the one or more processors, further configure the one or more processors to:
 identify a relationship between the first agricultural characteristic and the second agricultural characteristic based on the value of the first agricultural characteristic in the information map corresponding to the first geographic location and based on the value of the second agricultural characteristic detected by the in-situ sensor corresponding to the first geographic location; and   identify the predictive machine speed value, indicative of the predictive travel speed of the agricultural work machine, corresponding to the second geographic location in the field based on the identified relationship and based on a value of the first agricultural characteristic in the information map corresponding to the second geographic location.   
     
     
         20 . The agricultural system of  claim 1 , wherein the computer executable instructions, when executed by the one or more processors, further configure the one or more processors to:
 generate a control signal to control a controllable subsystem on the agricultural work machine based on the predictive machine speed value.